def _send_recv_msg(self, msg):
attr, args, kwargs = msg
tt = TicToc()
tt.tic()
if attr == 'predict':
image = args[0]
assert isinstance(image, np.ndarray), 'Expected image'
ret_code, data = cv2.imencode(".jpg", image, [int(cv2.IMWRITE_JPEG_QUALITY), opt.jpg_quality])
else:
data = msgpack.packb((args, kwargs))
self.timing.add('PACK', tt.toc())
tt.tic()
self.socket.send_data(attr, data)
self.timing.add('SEND', tt.toc())
tt.tic()
attr_recv, data_recv = self.socket.recv_data()
self.timing.add('RECV', tt.toc())
tt.tic()
if attr_recv == 'predict':
result = cv2.imdecode(np.frombuffer(data_recv, dtype='uint8'), -1)
else:
result = msgpack.unpackb(data_recv)
self.timing.add('UNPACK', tt.toc())
Once(self.timing, per=1)
return result
def send_worker(address, send_queue, worker_alive):
timing = AccumDict()
log = Logger('./var/log/send_worker.log', opt.verbose)
ctx = SerializingContext()
sender = ctx.socket(zmq.PUSH)
sender.connect(address)
log(f"Sending to {address}")
try:
while worker_alive.value:
tt = TicToc()
try:
msg = send_queue.get(timeout=GET_TIMEOUT)
except queue.Empty:
continue
tt.tic()
sender.send_data(*msg)
timing.add('SEND', tt.toc())
if opt.verbose:
Once(timing, log, per=1)
except KeyboardInterrupt:
log("send_worker: user interrupt")
finally:
worker_alive.value = 0
sender.disconnect(address)
sender.close()
ctx.destroy()
log("send_worker exit")
def _send_recv_async(self, method, args, critical):
self._i_msg += 1
args, kwargs = args
tt = TicToc()
tt.tic()
if method == 'predict':
image = args[0]
assert isinstance(image, np.ndarray), 'Expected image'
ret_code, data = cv2.imencode(".jpg", image, [int(cv2.IMWRITE_JPEG_QUALITY), opt.jpg_quality])
else:
data = msgpack.packb((args, kwargs))
self.timing.add('PACK', tt.toc())
meta = {
'name': method,
'critical': critical,
'id': self._i_msg
}
if opt.verbose:
self.log("send", meta)
if critical:
self.send_queue.put((meta, data))
while True:
meta_recv, data_recv = self.recv_queue.get()
if meta_recv == meta:
break
else:
try:
# TODO: find good timeout
self.send_queue.put((meta, data), timeout=PUT_TIMEOUT)
except queue.Full:
self.log('send_queue is full')
try:
meta_recv, data_recv = self.recv_queue.get(timeout=GET_TIMEOUT)
except queue.Empty:
self.log('recv_queue is empty')
return None
if opt.verbose:
self.log("recv", meta_recv)
tt.tic()
if meta_recv['name'] == 'predict':
result = cv2.imdecode(np.frombuffer(data_recv, dtype='uint8'), -1)
else:
result = msgpack.unpackb(data_recv)
self.timing.add('UNPACK', tt.toc())
Once(self.timing, per=1)
return result
def recv_worker(port, recv_queue, worker_alive):
timing = AccumDict()
log = Logger('./var/log/recv_worker.log', verbose=opt.verbose)
ctx = SerializingContext()
socket = ctx.socket(zmq.PULL)
socket.bind(f"tcp://*:{port}")
socket.RCVTIMEO = RECV_TIMEOUT
log(f'Receiving on port {port}', important=True)
try:
while worker_alive.value:
tt = TicToc()
try:
tt.tic()
msg = socket.recv_data()
timing.add('RECV', tt.toc())
except zmq.error.Again:
log("recv timeout")
continue
#log('recv', msg[0])
method, data = msg
if method['critical']:
recv_queue.put(msg)
else:
try:
recv_queue.put(msg, block=False)
except queue.Full:
log('recv_queue full')
Once(timing, log, per=1)
except KeyboardInterrupt:
log("recv_worker: user interrupt", important=True)
worker_alive.value = 0
log("recv_worker exit", important=True)
def recv_worker(address, recv_queue, worker_alive):
timing = AccumDict()
log = Logger('./var/log/recv_worker.log')
ctx = SerializingContext()
receiver = ctx.socket(zmq.PULL)
receiver.connect(address)
receiver.RCVTIMEO = RECV_TIMEOUT
log(f"Receiving from {address}")
try:
while worker_alive.value:
tt = TicToc()
try:
tt.tic()
msg = receiver.recv_data()
timing.add('RECV', tt.toc())
except zmq.error.Again:
continue
try:
recv_queue.put(msg, timeout=PUT_TIMEOUT)
except queue.Full:
log('recv_queue full')
continue
if opt.verbose:
Once(timing, log, per=1)
except KeyboardInterrupt:
log("recv_worker: user interrupt")
finally:
worker_alive.value = 0
receiver.disconnect(address)
receiver.close()
ctx.destroy()
log("recv_worker exit")
def send_worker(port, send_queue, worker_alive):
timing = AccumDict()
log = Logger('./var/log/send_worker.log', verbose=opt.verbose)
ctx = SerializingContext()
socket = ctx.socket(zmq.PUSH)
socket.bind(f"tcp://*:{port}")
log(f'Sending on port {port}', important=True)
try:
while worker_alive.value:
tt = TicToc()
try:
method, data = send_queue.get(timeout=GET_TIMEOUT)
except queue.Empty:
log("send queue empty")
continue
# get the latest non-critical request from the queue
# don't skip critical request
while not send_queue.empty() and not method['critical']:
log(f"skip {method}")
method, data = send_queue.get()
log("sending", method)
tt.tic()
socket.send_data(method, data)
timing.add('SEND', tt.toc())
Once(timing, log, per=1)
except KeyboardInterrupt:
log("predictor_worker: user interrupt", important=True)
worker_alive.value = 0
log("send_worker exit", important=True)
def message_handler(port):
log("Creating socket")
context = SerializingContext()
socket = context.socket(zmq.PAIR)
socket.bind("tcp://*:%s" % port)
log("Listening for messages on port:", port)
predictor = None
predictor_args = ()
timing = AccumDict()
try:
while True:
tt = TicToc()
tt.tic()
attr, data = socket.recv_data()
timing.add('RECV', tt.toc())
try:
tt.tic()
if attr == 'predict':
image = cv2.imdecode(np.frombuffer(data, dtype='uint8'),
-1)
else:
args = msgpack.unpackb(data)
timing.add('UNPACK', tt.toc())
except ValueError:
log("Invalid Message")
continue
tt.tic()
if attr == "__init__":
if args == predictor_args:
log("Same config as before... reusing previous predictor")
else:
del predictor
predictor_args = args
predictor = PredictorLocal(*predictor_args[0],
**predictor_args[1])
log("Initialized predictor with:", predictor_args)
result = True
tt.tic() # don't account for init
elif attr == 'predict':
result = getattr(predictor, attr)(image)
else:
result = getattr(predictor, attr)(*args[0], **args[1])
timing.add('CALL', tt.toc())
tt.tic()
if attr == 'predict':
assert isinstance(result, np.ndarray), 'Expected image'
ret_code, data_send = cv2.imencode(
".jpg", result,
[int(cv2.IMWRITE_JPEG_QUALITY), opt.jpg_quality])
else:
data_send = msgpack.packb(result)
timing.add('PACK', tt.toc())
tt.tic()
socket.send_data(attr, data_send)
timing.add('SEND', tt.toc())
Once(timing, per=1)
except KeyboardInterrupt:
pass
def predictor_worker(recv_queue, send_queue, worker_alive):
predictor = None
predictor_args = ()
timing = AccumDict()
log = Logger('./var/log/predictor_worker.log', verbose=opt.verbose)
try:
while worker_alive.value:
tt = TicToc()
try:
method, data = recv_queue.get(timeout=GET_TIMEOUT)
except queue.Empty:
continue
# get the latest non-critical request from the queue
# don't skip critical request
while not recv_queue.empty() and not method['critical']:
log(f"skip {method}")
method, data = recv_queue.get()
log("working on", method)
try:
tt.tic()
if method['name'] == 'predict':
image = cv2.imdecode(np.frombuffer(data, dtype='uint8'), -1)
else:
args = msgpack.unpackb(data)
timing.add('UNPACK', tt.toc())
except ValueError:
log("Invalid Message", important=True)
continue
tt.tic()
if method['name'] == "hello":
result = "OK"
elif method['name'] == "__init__":
if args == predictor_args:
log("Same config as before... reusing previous predictor")
else:
del predictor
predictor_args = args
predictor = PredictorLocal(*predictor_args[0], **predictor_args[1])
log("Initialized predictor with:", predictor_args, important=True)
result = True
tt.tic() # don't account for init
elif method['name'] == 'predict':
assert predictor is not None, "Predictor was not initialized"
result = getattr(predictor, method['name'])(image)
else:
assert predictor is not None, "Predictor was not initialized"
result = getattr(predictor, method['name'])(*args[0], **args[1])
timing.add('CALL', tt.toc())
tt.tic()
if method['name'] == 'predict':
assert isinstance(result, np.ndarray), f'Expected np.ndarray, got {result.__class__}'
ret_code, data_send = cv2.imencode(".jpg", result, [int(cv2.IMWRITE_JPEG_QUALITY), opt.jpg_quality])
else:
data_send = msgpack.packb(result)
timing.add('PACK', tt.toc())
if method['critical']:
send_queue.put((method, data_send))
else:
try:
send_queue.put((method, data_send), block=False)
except queue.Full:
log("send_queue full")
pass
Once(timing, log, per=1)
except KeyboardInterrupt:
log("predictor_worker: user interrupt", important=True)
except Exception as e:
log("predictor_worker error", important=True)
traceback.print_exc()
worker_alive.value = 0
log("predictor_worker exit", important=True)
def predictor_worker(recv_queue, send_queue, worker_alive):
predictor = None
predictor_args = ()
timing = AccumDict()
log = Logger('./var/log/predictor_worker.log', verbose=opt.verbose)
try:
while worker_alive.value:
tt = TicToc()
try:
method, data = recv_queue.get(timeout=GET_TIMEOUT)
except queue.Empty:
continue
# get the latest non-critical request from the queue
# don't skip critical request
while not recv_queue.empty() and not method['critical']:
log(f"skip {method}")
method, data = recv_queue.get()
log("working on", method)
try:
tt.tic()
if method['name'] == 'predict':
image = cv2.imdecode(
np.frombuffer(data, dtype='uint8'), -1)
else:
args = msgpack.unpackb(data)
timing.add('UNPACK', tt.toc())
except ValueError:
log("Invalid Message", important=True)
continue
tt.tic()
if method['name'] == "hello":
result = "OK"
elif method['name'] == "__init__":
if args == predictor_args:
log("Same config as before... reusing previous predictor"
)
else:
del predictor
cfg = get_cfg()
cfg.merge_from_file(
model_zoo.get_config_file(
"COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml"
))
cfg.MODEL.WEIGHTS = model_zoo.get_checkpoint_url(
"COCO-PanopticSegmentation/panoptic_fpn_R_101_3x.yaml"
)
cfg.MODEL.RETINANET.SCORE_THRESH_TEST = 0.6
cfg.MODEL.ROI_HEADS.SCORE_THRESH_TEST = 0.6
cfg.MODEL.PANOPTIC_FPN.COMBINE.INSTANCES_CONFIDENCE_THRESH = 0.6
predictor = DefaultPredictor(cfg)
result = True
tt.tic() # don't account for init
elif method['name'] == 'predict':
assert predictor is not None, "Predictor was not initialized"
panoptic_seg, segments_info = predictor(
image)["panoptic_seg"]
v = Visualizer(image[:, :, ::-1],
MetadataCatalog.get(cfg.DATASETS.TRAIN[0]),
scale=1.2)
out = v.draw_panoptic_seg_predictions(
panoptic_seg.to("cpu"), segments_info)
result = out.get_image()[:, :, ::-1]
else:
assert predictor is not None, "Predictor was not initialized"
panoptic_seg, segments_info = predictor(
image)["panoptic_seg"]
v = Visualizer(image[:, :, ::-1],
MetadataCatalog.get(cfg.DATASETS.TRAIN[0]),
scale=1.2)
out = v.draw_panoptic_seg_predictions(
panoptic_seg.to("cpu"), segments_info)
result = out.get_image()[:, :, ::-1]
timing.add('CALL', tt.toc())
tt.tic()
if method['name'] == 'predict':
assert isinstance(
result, np.ndarray
), f'Expected np.ndarray, got {result.__class__}'
ret_code, data_send = cv2.imencode(
".jpg", result,
[int(cv2.IMWRITE_JPEG_QUALITY), opt.jpg_quality])
else:
data_send = msgpack.packb(result)
timing.add('PACK', tt.toc())
if method['critical']:
send_queue.put((method, data_send))
else:
try:
send_queue.put((method, data_send), block=False)
except queue.Full:
log("send_queue full")
pass
Once(timing, log, per=1)
except KeyboardInterrupt:
log("predictor_worker: user interrupt", important=True)
except Exception as e:
log("predictor_worker error", important=True)
traceback.print_exc()
worker_alive.value = 0
log("predictor_worker exit", important=True)
overlay_alpha = 0.0
preview_flip = False
output_flip = False
find_keyframe = False
is_calibrated = False
fps_hist = []
fps = 0
show_fps = False
print_help()
try:
while True:
tt = TicToc()
timing = {'preproc': 0, 'predict': 0, 'postproc': 0}
green_overlay = False
tt.tic()
ret, frame = cap.read()
if not ret:
logging.info("Can't receive frame (stream end?). Exiting ...")
break
frame = frame[..., ::-1]
frame_orig = frame.copy()